JP2022129699A - Driving assistance device, driving assistance method, and program - Google Patents

Abstract

To appropriately evaluate vehicle driving by a driver.SOLUTION: Provided is a driving assistance device comprising: an external information acquisition unit for acquiring external information that includes the relative position and relative speed of an object around a moving vehicle as seen from the moving vehicle; a traveling information acquisition unit for acquiring traveling information that at least includes the speed and acceleration of the moving vehicle; a driving evaluation unit for evaluating an occupant's driving on the basis of the external information and/or the traveling information and starting evaluation of the occupant's driving when a prescribed condition is satisfied after the occupant's operation is performed; and an evaluation result notification unit for causing a notification device to give a notification on the result of the evaluation. The driving evaluation unit includes a first evaluation unit for performing a first evaluation of the occupant's driving in a first prescribed period till the prescribed condition is satisfied after the operation is performed and a second evaluation unit for performing a second evaluation of the occupant's driving in a second period after the prescribed condition is satisfied.SELECTED DRAWING: Figure 1

Description

The present invention relates to a driving assistance device, a driving assistance method, and a program.

Techniques for evaluating the driving of a vehicle by a driver are known. For example, Patent Literature 1 discloses a program that gives a higher evaluation as the degree to which the own vehicle follows the preceding vehicle is higher. This technology gives a high evaluation when the distance between the vehicle and the vehicle in front is within a predetermined range, and issues a warning when the acceleration of the vehicle exceeds a predetermined value. be.

JP 2019-128735 A

However, in the technique described in Patent Document 1, when the preceding vehicle is at a position away from the own vehicle, the driver generates excessive speed or acceleration before the evaluation program is executed to avoid the preceding vehicle. may try to reduce the inter-vehicle distance between As a result, there are cases where the driver's driving of the vehicle cannot be evaluated appropriately.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a driving assistance device, a driving assistance method, and a program capable of appropriately evaluating the driving of a vehicle by a driver. one.

A driving assistance device, a driving assistance method, and a program according to the present invention employ the following configurations.
(1): A driving assistance device according to an aspect of the present invention includes an external world information acquisition unit that acquires external world information including relative positions and relative velocities of objects around the mobile object as viewed from the mobile object; A driving information acquisition unit that acquires driving information including at least body velocity and acceleration, and a driving evaluation unit that evaluates driving of the occupant based on at least one of the external world information and the driving information, a driving evaluation unit for starting evaluation of the driving of the occupant when a predetermined condition is satisfied after the operation by the occupant; The driving evaluation unit includes a first evaluation unit that performs a first evaluation of the driver's driving for a first predetermined period from when the operation is performed until the predetermined condition is satisfied; a second evaluation unit that performs a second evaluation of the occupant's driving for a second predetermined period, wherein the first evaluation unit performs the first evaluation; and the second evaluation unit performs the second evaluation. It is different from the method of evaluation.

(2): In the aspect of (1) above, the method of performing the first evaluation uses at least part of the external world information and the travel information used by the method of performing the second evaluation.

(3): In the aspect of (2) above, the method for performing the first evaluation is to evaluate the driving skill of the passenger based on the relative speed, and the method for performing the second evaluation is to perform the For the object identified as the preceding vehicle that is immediately in front of the moving object, the degree of tracking of the preceding vehicle is determined based on at least one of the relative position and the relative speed of the object. When the amount of change in the relative velocity is less than a negative first threshold within the first predetermined period, the evaluation result reporting unit lowers the first evaluation and reports the It is to cause the device to issue a warning to the occupant.

(4): In the aspect of (2) above, the driving assistance device further comprises a storage unit that stores past average velocities and average accelerations in a predetermined section of the moving body, and the method for performing the first evaluation is and evaluating the driving skill of the occupant based on the relative speed. With respect to the object, the degree of following the preceding vehicle is evaluated based on at least one of the relative position and the relative speed of the object, and the evaluation result notification unit is adapted to evaluate the following degree of the object based on the speed of the moving body and the speed of the moving body. When the difference between the average velocity is greater than or equal to a second threshold or the difference between the acceleration of the moving body and the average acceleration is greater than or equal to a third threshold, the first evaluation is lowered, and the A warning device is made to report a warning to the passenger.

(5): In any one of the aspects (1) to (4) above, the second evaluation unit, before the operation by the passenger, causes the passenger to agree in advance to perform the second evaluation. The second evaluation is performed on the premise that

(6): A driving assistance method according to another aspect of the present invention is such that a computer acquires external world information including relative positions and relative velocities of objects around the moving body as viewed from the moving body, and obtains traveling information including at least the speed and acceleration of the vehicle, evaluates the driving of the occupant based on at least one of the external information and the traveling information, and after the operation by the occupant meets a predetermined condition When the condition is established, the evaluation of the occupant's driving is started, the result of the evaluation is notified by a notification device, and the occupant's driving is targeted for a first predetermined period from the operation until the predetermined condition is satisfied. performing a first evaluation, performing a second evaluation of the occupant's driving for a second predetermined period after the predetermined condition is established, and performing the first evaluation; and a method of performing the second evaluation. are different.

(7): A program according to another aspect of the present invention causes a computer to obtain external world information including relative positions and relative velocities of objects around the moving body as viewed from the moving body, and and acceleration, and evaluates the driving of the occupant based on at least one of the external information and the traveling information, and a predetermined condition is established after the occupant's operation is performed. When the driver's operation is performed, evaluation of the driver's driving is started, the result of the evaluation is notified to a notification device, and the driver's driving performance is evaluated for a first predetermined period from when the operation is performed until the predetermined condition is satisfied. A method of performing a first evaluation, performing a second evaluation of the occupant's driving for a second predetermined period after the predetermined condition is established, and performing the first evaluation; and a method of performing the second evaluation. is different from

According to (1) to (7), it is possible to appropriately evaluate the driving of the moving object by the driver.

According to (2), it is possible to notify the first evaluation in a manner that does not give the driver a sense of discomfort.

According to (3) and (4), it is possible to warn the occupant of the moving object who is trying to unreasonably follow the preceding vehicle.

It is a figure showing an example of functional composition of driving support system 1 carried in self-vehicles M. 4 is a diagram showing an example of a coaching menu screen displayed on the touch panel 18 by the coaching control unit 110. FIG. 4 is a diagram showing an example of average speed and average acceleration for each section calculated by a travel information acquisition unit 130 and stored in a storage unit 160. FIG. 4 is a diagram showing an example of first evaluation set by a first evaluation unit 141; FIG. 8 is a diagram showing an example of second evaluation set by a second evaluation unit 142; FIG. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure for demonstrating an example of the scene to which the driving assistance device 100 which concerns on this embodiment is applied. FIG. 7 is a flow chart showing an example of the flow of processing of the driving support device 100 for coping with the scene as shown in FIG. 6. FIG. FIG. 4 is a diagram for explaining another example of a scene in which the driving assistance device 100 according to the present embodiment is applied; FIG. 9 is a flow chart showing an example of the flow of processing of the driving support device 100 for coping with the situation as shown in FIG. 8. FIG.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a driving assistance device of the present invention will be described below with reference to the drawings.

FIG. 1 is a diagram showing an example of a functional configuration of a driving support system 1 mounted on a host vehicle M. As shown in FIG. The driving assistance system 1 includes a camera 10 , a radar device 12 , a LIDAR 14 , a vehicle sensor 16 , a touch panel 18 , a notification device 20 and a driving assistance device 100 . The vehicle M is an example of a "moving object".

The camera 10 is, for example, a digital camera using a solid-state imaging device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 10 is attached to the arbitrary location of the own vehicle M. As shown in FIG. When imaging the front, the camera 10 is attached to the upper part of the front windshield, the rear surface of the rearview mirror, or the like. The camera 10, for example, repeatedly images the surroundings of the own vehicle M periodically. Camera 10 may be a stereo camera.

The radar device 12 radiates radio waves such as millimeter waves around the vehicle M and detects radio waves (reflected waves) reflected by an object to detect at least the position (distance and direction) of the object. The radar device 12 is attached to any location of the own vehicle M. As shown in FIG. The radar device 12 may detect the position and velocity of an object by the FM-CW (Frequency Modulated Continuous Wave) method.

The LIDAR 14 irradiates light (or electromagnetic waves having a wavelength close to light) around the vehicle M and measures scattered light. The LIDAR 14 detects the distance to the object based on the time from light emission to light reception. The irradiated light is, for example, pulsed laser light. LIDAR14 is attached to the arbitrary locations of self-vehicles M. As shown in FIG.

The vehicle sensors 16 include a vehicle speed sensor that detects the speed of the vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects angular velocity about a vertical axis, a direction sensor that detects the direction of the vehicle M, and the like.

The touch panel 18 is configured by superimposing a display section such as an LCD (liquid crystal display) or an organic EL (Electroluminescence) and an input section capable of detecting an operator's touch position by a coordinate detection mechanism. The display unit displays GUI (Graphical User Interface) switches for operation. When detecting a touch operation, a flick operation, a swipe operation, or the like on the GUI switch, the input unit generates an operation signal indicating that the GUI switch has been touched, and outputs the operation signal to the driving support device 100 .

The notification device 20 has a function of notifying the user. The notification device 20 may notify, for example, by causing an unillustrated voice output device to output sound, or may notify by information communication with another device, for example, an information processing terminal held by the user. . The notification device 20 performs a notification operation under the control of the evaluation result notification unit 150, which will be described later.

The driving support device 100 includes, for example, a coaching control unit 110, an external world information acquisition unit 120, a driving information acquisition unit 130, a driving evaluation unit 140, an evaluation result notification unit 150, and a storage unit 160. 110, the external world information acquisition unit 120, the driving information acquisition unit 130, the driving evaluation unit 140, and the evaluation result notification unit 150, for example, a hardware processor such as a CPU (Central Processing Unit) is a program (software ) is implemented by executing Some or all of these components are hardware (circuits) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit). (including circuitry), or by cooperation of software and hardware. The program may be stored in advance in a storage device (a storage device having a non-transitory storage medium) such as the HDD or flash memory of the driving assistance device 100, or may be stored in a removable storage such as a DVD or CD-ROM. It is stored in a medium, and may be installed in the HDD or flash memory of the driving assistance device 100 by attaching the storage medium (non-transitory storage medium) to the drive device. The storage unit 160 is realized by, for example, ROM (Read Only Memory), flash memory, SD card, RAM (Random Access Memory), register, and the like.

The coaching control unit 110 performs various controls related to coaching of driving of the own vehicle M by the passenger. Here, the coaching means evaluating the driving of the own vehicle M by the occupant according to the purpose set by the occupant, such as following the preceding vehicle, adjusting the acceleration and deceleration, and controlling the position of the vehicle in the vehicle width direction within the lane. is communicated to the occupants to encourage them to improve their driving. For example, in the case of following a vehicle in front, the closer the distance between the vehicle to the vehicle in front is to the extent that it is possible to stop considering the relative speed and vehicle speed, and the closer the relative speed is to zero, the higher the evaluation by coaching. set. For example, the coaching control unit 110 causes the touch panel 18 to display a coaching menu screen for the passenger to specify the details of coaching, receives the selection of the crew member input on the coaching menu screen of the touch panel 18, and displays the selection. Execute the corresponding process.

FIG. 2 is a diagram showing an example of a coaching menu screen displayed on the touch panel 18 by the coaching control unit 110. As shown in FIG. In FIG. 2, area A1 shows a drop-down list for selecting coaching content, area A2 shows a coaching start button, and area A3 shows detailed information about coaching. In area A1, as described above, the content of coaching includes various purposes, but in this embodiment, "follow-up coaching" is selected.

When the passenger of own vehicle M presses the coaching start button in area A2, the content is transmitted to coaching control unit 110, and coaching control unit 110 executes coaching. On the other hand, when the content of coaching is "follow-up coaching", it is necessary that a preceding vehicle exists in front of own vehicle M in order to execute coaching. Therefore, as shown in area A3, after the coaching start button is pressed, coaching control unit 110 identifies the existence of the preceding vehicle from among surrounding objects included in the external world information acquired by external world information acquiring unit 120, and Execution of coaching is started at the timing when the preceding vehicle is identified.

The external world information acquisition unit 120 performs sensor fusion processing on detection results obtained by some or all of the camera 10, the radar device 12, and the LIDAR 14, and determines the types of surrounding objects existing around the vehicle M and External information such as relative positions and relative velocities of the peripheral objects viewed from the vehicle M are acquired.

The travel information acquisition unit 130 acquires travel information including the speed and acceleration of the own vehicle M from the vehicle sensor 16 . The travel information acquisition unit 130 further uses a GNSS (Global Navigation Satellite System) receiver (not shown) provided in the vehicle M and map information to identify a section (road or intersection) where the vehicle M exists, The average velocity and average acceleration are calculated for each section and stored in the storage unit 160 .

FIG. 3 is a diagram showing an example of the average speed and average acceleration for each section calculated by the travel information acquisition unit 130 and stored in the storage unit 160. As shown in FIG. In FIG. 3, the solid line indicates the average speed and average acceleration of the own vehicle M in a certain section, and the dotted line indicates the current speed and acceleration of the own vehicle M (that is, travel information) in the section. Although the graph in FIG. 3 directly represents only the speed of the own vehicle M, the acceleration of the own vehicle M can be easily derived by obtaining the slope of the speed of the own vehicle M. In the case of FIG. 3, it can be seen that the current acceleration CA is higher than the past average acceleration PA of the host vehicle M. FIG. As will be described later, the driving evaluation unit 140 evaluates the driver's driving of the own vehicle M by comparing the travel information with the past average speed and average acceleration of the own vehicle M.

The driving evaluation unit 140 evaluates the driver's driving of the own vehicle M based on at least one of the external world information acquired by the external world information acquiring unit 120 and the traveling information acquired by the traveling information acquiring unit 130. . The driving evaluation unit 140 starts evaluation of the driver's driving of the own vehicle M when the external world information acquisition unit 120 identifies the preceding vehicle after the driver presses the coaching start button. Depression of the coaching start button is an example of "passenger operation", and specification of the preceding vehicle by the external world information acquisition unit 120 is an example of "predetermined condition".

Driving evaluation unit 140 includes first evaluation unit 141 and second evaluation unit 142 . The first evaluation unit 141 evaluates the relative speed of the preceding vehicle for a first predetermined period from when the coaching start button is pressed until the preceding vehicle is specified by the external world information acquiring unit 120, and driving skill (hereinafter sometimes referred to as "first evaluation"). Specifically, for example, the first evaluation unit 141 sets the first evaluation to be low when the amount of change in the relative velocity is less than the negative first threshold during the first predetermined period. This means that the own vehicle M has suddenly approached the preceding vehicle during the first predetermined period. Note that in the present embodiment, the relative velocity is defined as the relative velocity of a peripheral object seen from the own vehicle M, so a negative first threshold is used in the above determination. However, the configuration of the present invention is not limited to this, and the relative speed is defined as the relative speed of the own vehicle M as seen from the surrounding object, and in the above determination, the amount of change in the relative speed is greater than or equal to the positive first threshold. If not, the first evaluation may be set low.

FIG. 4 is a diagram showing an example of the first evaluation set by the first evaluation unit 141. As shown in FIG. FIG. 4 shows a scene in which evaluation is performed by the first evaluation unit 141 by identifying the preceding vehicle by the external world information acquisition unit 120 after the coaching start button is pressed by the occupant of the own vehicle M. there is In the case of FIG. 4, the first evaluation unit 141 determines that the amount of change in the relative velocity is less than the negative first threshold value, and therefore sets the first evaluation to a low value, saying "Don't overdo it to follow." there is With this configuration, when the preceding vehicle is at a position away from the own vehicle M, the vehicle tries to reduce the inter-vehicle distance to the preceding vehicle by generating excessive speed or acceleration in order to execute coaching. Attention can be given to the occupants of the vehicle M.

Furthermore, as another scene, after the coaching start button is pressed by the occupant of own vehicle M, when the preceding vehicle, which is a follow-up candidate, starts at an excessively high speed or acceleration, the occupant of own vehicle M also Accordingly, the vehicle may attempt to follow the preceding vehicle with excessively high speed or acceleration. Therefore, after pressing the coaching start button, the first evaluation unit 141 determines whether the speed of the vehicle M is higher than the past average speed stored in the storage unit 160 by a second threshold or more, or the acceleration of the vehicle M is When the past average acceleration stored in the storage unit 160 is higher than the third threshold value, the first evaluation is set low, and the evaluation is displayed on the touch panel 18 . As described above, the past average speed and average acceleration are stored for each zone in which the vehicle M has traveled in the past. is specified, and the average velocity and average acceleration corresponding to the section are extracted from the storage unit 160 . With this configuration, it is possible to warn the occupant of the own vehicle M who tries to unreasonably follow the preceding vehicle.

In the above determination, the first evaluation unit 141 compares the value obtained by subtracting the average speed from the speed of the own vehicle M with the second threshold value, and calculates the average acceleration from the acceleration of the own vehicle M. The value obtained by subtracting is compared with the third threshold. However, the present invention is not limited to this configuration. The determination may be made by comparing the absolute value or squared error of the difference between the acceleration of the vehicle M and the average acceleration with a threshold value.

The second evaluation unit 142 evaluates the preceding vehicle based on at least one of the relative position and the relative speed of the preceding vehicle for a second predetermined period after the preceding vehicle is identified by the external world information acquisition unit 120 . The degree of tracking of the own vehicle M to the running vehicle (hereinafter sometimes referred to as "second evaluation") is evaluated. Specifically, for example, the second evaluation unit 142 determines that, during the second predetermined period, the relative position of the preceding vehicle is close enough to allow the vehicle to stop even when the relative speed and the own vehicle speed are considered, or the relative speed is zero. , the second evaluation is set high. The second evaluation unit 142 further sets the second evaluation to be low based on the travel information of the vehicle M when the vehicle M travels at an excessively high speed or acceleration during the second predetermined period. good.

FIG. 5 is a diagram showing an example of the second evaluation set by the second evaluation unit 142. As shown in FIG. In FIG. 5, after the coaching start button is pressed by the occupant of the host vehicle M, the preceding vehicle is specified by the external world information acquisition unit 120, and follow-up coaching is performed for a second predetermined period. 2 shows a scene where the evaluation by the evaluation unit 142 is executed. In the case of FIG. 5, the second evaluation unit 142 sets a high second evaluation of "excellent" because it determines that the degree of following of the vehicle M to the preceding vehicle is high during the second predetermined period.

The evaluation result notification unit 150 causes the touch panel 18 to display the evaluation result by the driving evaluation unit 140 or the notification device 20 to notify the evaluation result. The storage unit 160 stores the past average speed and average acceleration acquired by the travel information acquisition unit 130 for each section.

Next, with reference to FIG. 6, a scene in which the driving assistance device 100 according to the present embodiment is applied will be described. FIG. 6 is a diagram for explaining an example of a scene in which the driving assistance device 100 according to this embodiment is applied. In FIG. 6, the own vehicle M stops at the intersection after the coaching start button is pressed, and in front of it, another vehicle M1 traveling in another lane turns left and enters the own lane of the own vehicle M. is doing. At this time, the occupant of the own vehicle M may attempt to overtake the other vehicle M1 by generating excessive speed or acceleration in order to start coaching with the other vehicle M1 as the preceding vehicle.

FIG. 7 is a flowchart showing an example of the processing flow of the driving assistance device 100 for coping with the situation shown in FIG. First, the driving assistance device 100 uses the coaching control unit 110 to receive the coaching content input by the occupant of the own vehicle M on the touch panel 18 (step S100). Specifically, the driving assistance device 100 accepts that the occupant of the own vehicle M has selected “following coaching” on the touch panel 18 . Selection of "follow-up coaching" is an example of "an operation to the effect that the passenger agrees in advance to perform the second evaluation".

Next, the driving assistance device 100 uses the coaching control unit 110 to receive that the coaching start button has been pressed by the passenger of the own vehicle M on the touch panel 18 (step S101). Next, the driving support device 100 uses the external world information acquisition unit 120 to determine whether or not there is a preceding vehicle around the own vehicle M (step S102). When it is determined that there is no preceding vehicle, the driving support device 100 executes the process of step S102 again. On the other hand, when it is determined that there is a preceding vehicle, the driving support device 100 uses the driving information acquisition unit 130 to acquire the most recent driving information of the own vehicle M (step S103).

Next, the driving support device 100 uses the driving evaluation unit 140 to determine whether or not the own vehicle M stops and starts (that is, starts accelerating from a stopped state) based on the most recent travel information acquired. Determine (step S104). When it is determined that the own vehicle M is not stopping and starting, the driving assistance device 100 sets the first evaluation to be high using the first evaluation unit 141 (step S105). After that, the driving support device 100 advances the process to step S111. On the other hand, when it is determined that the vehicle M stops and starts, the driving support device 100 refers to the storage unit 160 using the travel information acquisition unit 130, and acquires past travel information corresponding to the section in which the host vehicle M currently exists. (step S106).

Next, the driving assistance device 100 uses the first evaluation unit 141 to target a first predetermined period from when the coaching start button is pressed until the external world information acquisition unit 120 identifies the preceding vehicle. It is determined whether or not the amount of change in the relative speed of the running vehicle is less than the negative first threshold (step S107). When it is determined that the amount of change in the relative speed of the preceding vehicle is not less than the negative first threshold, the first evaluation unit 141 compares the most recent travel information with the past travel information to It is determined whether or not M travels at high speed or starts suddenly (step S108). Specifically, the first evaluation unit 141 determines whether the speed of the own vehicle M is higher than the past average speed by a second threshold or more, or whether the acceleration of the own vehicle M is higher than the past average acceleration by a third threshold or more. determine whether or not When it is determined that the vehicle M is not traveling at high speed or starting suddenly, the first evaluation unit 141 sets a high first evaluation.

On the other hand, when it is determined that the own vehicle M traveled or started suddenly at high speed, the first evaluation unit 141 sets the first evaluation low (step S109). In response, the driving support device 100 uses the evaluation result notification unit 150 to notify the notification device 20 of the first evaluation that the host vehicle M has run unreasonably (step S110). After that, the driving assistance device 100 starts follow-up coaching using the coaching control unit 110, and performs follow-up coaching for a second predetermined period (step S111). After the second predetermined period has elapsed, the second evaluation unit 142 evaluates the driver's driving of the own vehicle M, and the notification device 20 notifies the evaluation result (step S112). This completes the processing of the flowchart. According to the processing of the flowchart above, it is possible to warn the occupant of the moving object who is trying to unreasonably follow the preceding vehicle in order to execute coaching.

In the above flow chart, it is determined whether or not the host vehicle M stops and starts, whether or not the amount of change in the relative speed is less than the first negative threshold, and the comparison with the past travel information. Then, it is determined whether or not the own vehicle M has traveled at a high speed or started suddenly. However, the present invention is not limited to this configuration, and at least it is sufficient to determine whether or not the amount of change in the relative velocity is less than the negative first threshold. Even in this way, the situation as shown in FIG. 6 can be dealt with.

Next, with reference to FIG. 8, another scene in which the driving assistance device 100 according to the present embodiment is applied will be described. FIG. 8 is a diagram for explaining another example of a scene in which the driving assistance device 100 according to this embodiment is applied. In FIG. 8, it is assumed that own vehicle M stops at an intersection after the coaching start button is pressed, and another vehicle M1 stops in front of it, but then the other vehicle M1 suddenly starts. do. At this time, the occupant of the own vehicle M may attempt to overtake the other vehicle M1 by generating excessive speed or acceleration in order to start coaching with the other vehicle M1 as the preceding vehicle.

FIG. 9 is a flowchart showing an example of the processing flow of the driving support device 100 for coping with the situation shown in FIG. Since the processing from step S200 to step S203 is the same as the processing from step S100 to step S103 in FIG. 7, description thereof is omitted.

When the driving support device 100 acquires the most recent driving information of the own vehicle M, next, the driving evaluation unit 140 is used to determine whether or not the own vehicle M is accelerating based on the obtained most recent driving information. (step S204). When it is determined that the host vehicle M is not accelerating, the driving support device 100 sets the first evaluation to be high using the first evaluation unit 141 (step S207). After that, the driving support device 100 advances the process to step S210. On the other hand, when it is determined that the vehicle is accelerating, the driving support device 100 uses the travel information acquisition unit 130 to refer to the storage unit 160 to acquire past travel information corresponding to the section in which the host vehicle M currently exists. (step S205).

Next, using the first evaluation unit 141, the driving support device 100 automatically evaluates the first predetermined period from when the coaching start button is pressed until the external world information acquisition unit 120 identifies the preceding vehicle. It is determined whether or not the vehicle M travels at high speed or starts suddenly (step S206). Specifically, the first evaluation unit 141 determines whether the speed of the own vehicle M is higher than the past average speed by a second threshold or more, or whether the acceleration of the own vehicle M is higher than the past average acceleration by a third threshold or more. determine whether or not When it is determined that the vehicle M is not traveling at high speed or starting suddenly, the first evaluation unit 141 sets a high first evaluation.

On the other hand, when it is determined that the host vehicle M traveled or started suddenly at high speed, the first evaluation unit 141 sets the first evaluation low (step S208). In response, the driving support device 100 uses the evaluation result notification unit 150 to notify the notification device 20 of the first evaluation that the host vehicle M has run unreasonably (step S209). After that, the driving assistance device 100 starts follow-up coaching using the coaching control unit 110, and performs follow-up coaching for a second predetermined period (step S210). After the second predetermined period has elapsed, the second evaluation unit 142 evaluates the driving of the vehicle M by the occupant, and the notification device 20 notifies the evaluation result (step S211). This completes the processing of the flowchart. According to the processing of the flowchart above, it is possible to warn the occupant of the moving object who is trying to unreasonably follow the preceding vehicle in order to execute coaching.

In the above flow chart, it is determined whether or not the vehicle M is accelerating, and whether or not the vehicle M has traveled at a high speed or started suddenly by comparing with past travel information. It is However, the present invention is not limited to this configuration, and at least it may be determined whether or not the host vehicle M traveled at a high speed or started suddenly by comparing with past travel information. Even in this way, the situation as shown in FIG. 8 can be dealt with.

According to the present embodiment described above, during the period from when the occupant of the own vehicle M requests coaching until the preceding vehicle is identified, the own vehicle M is instructed to perform coaching by the preceding vehicle. When trying to follow unreasonably, the first evaluation unit detects this based on the amount of change in the relative speed and the comparison between the current traveling information and the past traveling information, and the occupant give attention to. This makes it possible to appropriately evaluate the driving of the moving object by the driver.

Furthermore, according to the present embodiment, the method of performing the first evaluation uses the relative velocity, and the method of performing the second evaluation uses at least the relative position, the relative velocity, and the traveling information of the own vehicle M. or That is, since the method of performing the first evaluation uses at least a part of the external world information and the traveling information used by the method of performing the second evaluation, the first evaluation can be performed in a manner that is less uncomfortable for the occupant of the vehicle M. Evaluation can be reported.

The embodiment described above can be expressed as follows.
a storage device storing a program;
a hardware processor;
By the hardware processor executing the program stored in the storage device,
Acquiring external world information including relative positions and relative velocities of objects around the moving body as seen from the moving body;
Acquiring travel information including at least the speed and acceleration of the moving object;
The driving of the passenger is evaluated based on at least one of the external world information and the traveling information, and the evaluation of the driving of the passenger is started when a predetermined condition is satisfied after the operation of the passenger is performed. death,
Notify the result of the evaluation to the notification device,
performing a first evaluation of the occupant's driving for a first predetermined period from when the operation is performed until the predetermined condition is satisfied;
performing a second evaluation of the occupant's driving for a second predetermined period after the predetermined condition is satisfied;
The method by which the first evaluation unit performs the first evaluation is different from the method by which the second evaluation unit performs the second evaluation,
A driving assistance device configured to:

As described above, the mode for carrying out the present invention has been described using the embodiments, but the present invention is not limited to such embodiments at all, and various modifications and replacements can be made without departing from the scope of the present invention. can be added.

10 camera 12 radar device 14 LIDAR
16 vehicle sensor 18 touch panel 20 notification device 100 driving support device 110 coaching control unit 120 external information acquisition unit 130 traveling information acquisition unit 140 driving evaluation unit 141 first evaluation unit 142 second evaluation unit 150 evaluation result notification unit 160 storage unit

Claims (7)

an external world information acquisition unit that acquires external world information including relative positions and relative velocities of objects around the moving body as seen from the moving body;
a travel information acquisition unit that acquires travel information including at least the speed and acceleration of the mobile body;
A driving evaluation unit that evaluates the driving of an occupant based on at least one of the external world information and the traveling information, the driving evaluation unit evaluating the occupant's driving when a predetermined condition is satisfied after the occupant's operation is performed. a driving evaluation unit for initiating a driving evaluation;
an evaluation result notification unit that causes a notification device to notify the result of the evaluation,
The driving evaluation unit
a first evaluation unit that performs a first evaluation of the occupant's driving for a first predetermined period from when the operation is performed until the predetermined condition is satisfied;
a second evaluation unit that performs a second evaluation of the occupant's driving for a second predetermined period after the predetermined condition is satisfied;
The method by which the first evaluation unit performs the first evaluation is different from the method by which the second evaluation unit performs the second evaluation,
Driving assistance device. The method of performing the first evaluation uses at least part of the external information and the driving information used by the method of performing the second evaluation.
The driving support device according to claim 1. The method of performing the first evaluation is to evaluate the driving skill of the passenger based on the relative speed,
The method of performing the second evaluation is such that, for the object identified as the preceding vehicle that is in front of the moving object, at least one of the relative position and the relative speed of the object is determined. The degree of follow-up to the preceding vehicle is evaluated based on
The evaluation result notification unit lowers the first evaluation when the amount of change in the relative speed becomes less than a negative first threshold within the first predetermined period, and instructs the notification device to notify the passenger. signal a warning,
The driving support device according to claim 2. Further comprising a storage unit that stores the past average velocity and average acceleration in a predetermined section of the moving body,
The method of performing the first evaluation is to evaluate the driving skill of the passenger based on the relative speed,
The method of performing the second evaluation is such that, for the object identified as the preceding vehicle that is in front of the moving object, at least one of the relative position and the relative speed of the object is determined. The degree of follow-up to the preceding vehicle is evaluated based on
The evaluation result notification unit determines whether the difference between the speed of the moving object and the average speed is equal to or greater than a second threshold, or the difference between the acceleration of the moving object and the average acceleration is equal to or greater than a third threshold. When there is, the first evaluation is lowered to cause the notification device to notify the passenger of a warning;
The driving support device according to claim 2. The second evaluation unit performs the second evaluation on the premise that the occupant has performed an operation to consent in advance to the execution of the second evaluation before the occupant's operation.
The driving assistance device according to any one of claims 1 to 4. the computer
Acquiring external world information including relative positions and relative velocities of objects around the moving body as seen from the moving body;
Acquiring travel information including at least the speed and acceleration of the moving object;
The driving of the passenger is evaluated based on at least one of the external world information and the traveling information, and the evaluation of the driving of the passenger is started when a predetermined condition is satisfied after the operation of the passenger is performed. ,
causing the notification device to notify the result of the evaluation;
performing a first evaluation of the occupant's driving for a first predetermined period from when the operation is performed until the predetermined condition is satisfied;
performing a second evaluation of the occupant's driving for a second predetermined period after the predetermined condition is satisfied;
The method of performing the first evaluation is different from the method of performing the second evaluation,
Driving assistance method. to the computer,
Acquiring external world information including relative positions and relative velocities of objects around the moving body as viewed from the moving body;
acquiring travel information including at least the speed and acceleration of the moving body;
An occupant's driving is evaluated based on at least one of the external world information and the traveling information, and evaluation of the occupant's driving is started when a predetermined condition is satisfied after the occupant's operation is performed. let
causing the notification device to notify the result of the evaluation;
performing a first evaluation of the occupant's driving for a first predetermined period from when the operation is performed until the predetermined condition is satisfied;
performing a second evaluation of the occupant's driving for a second predetermined period after the predetermined condition is satisfied;
The method of performing the first evaluation is different from the method of performing the second evaluation,
program.

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